Jul 15, 2003 - The definitions, acronyms and abbreviations given in part 1 shall also apply for part 2. 4 Virtual device definitions. 4.1 Introduction. A physical ...
Car door controller ..................................................................................................... 6
4.6
Car door unit .............................................................................................................. 6
4.7
Light barrier unit ......................................................................................................... 6
4.8
Car position unit ......................................................................................................... 7
4.9
Car drive controller..................................................................................................... 7
4.10
Car drive unit.............................................................................................................. 8
4.11
Load measuring unit .................................................................................................. 9
4.12
Sensor unit ............................................................................................................... 10
iii
CiA
DSP 417-2 V1.0.1
CANopen Application Profile for Lift Control Systems
CiA
1 Scope This part of the application profile defines the virtual devices and the assignment of application objects that are supported by a particular virtual device.
2 Normative references The normative references given in part 1 one shall apply also for part 2.
3 Definitions, acronyms and abbreviations The definitions, acronyms and abbreviations given in part 1 shall also apply for part 2.
4 Virtual device definitions 4.1
Introduction
A physical CANopen device compliant to this application profile consists of one or more virtual devices. A virtual device shall not be distributed to several physical devices. Each virtual device supports a set of mandatory application objects and may implement additionally a variable set of optional application objects. Physical devices will not be defined, because they may implement multiple functions. The virtual device implements different application objects, some shall be supported (Mandatory) and some may be supported (Optional). In the virtual device description, there is defined the access attribute indicating if an application object is read only (ro), read/write (rw) or write only (wo). Read only indicates that this shall not be written via the bus; read/write allows to read and to write this object; and write only means that this application object shall be not read via the bus.
4.2
Call controller
The call controller virtual device receives all call requests from the panel virtual devices, and transmits the corresponding acknowledgements to the panel virtual devices. In addition, the call controller sends commands to the car drive controller to move the car and the car door controller to control the doors. When the call controller, the car drive controller, and the car door controller are implemented on the very same physical device, the communication between these virtual devices may be handled locally. All objects used by this virtual device are listed as follows: Index
Name
M/O
Access
6001h
Lift number
M
rw
6010h
Virtual input mapping
M
rw
6011h
Virtual output mapping
M
ro
6012h
Virtual sensor mapping
O
rw
6302h
Door position
O
rw
6383h
Position value
M
rw
6390h
Speed value car
O
rw
6391h
Acceleration value car
O
rw
4
DSP 417-2 V1.0.1
4.3
CANopen Application Profile for Lift Control Systems
CiA
Input panel unit
The input panel unit virtual device may be installed as in-car call panel or as floor call panel. The panel virtual device transmits user requests. All objects used by this virtual device are listed as follows: Index
Name
6100h 6101h :::::
Access
Input group 1
M
ro
Input group 2
O
ro
:::::
:::::
::::::
611Fh
Input group 32
O
ro
6120h
Parameter 1 group 1
M
rw
6121h
Parameter 1 group 2
O
rw
:::::
:::::
:::::
:::::
613Fh
Parameter 1 group 32
O
rw
6140h
Parameter 2 group 1
M
rw
6141h
Parameter 2 group 2
O
rw
:::::
:::::
:::::
:::::
615Fh
Parameter 2 group 32
O
rw
6160h
Parameter 3 group 1
M
rw
6161h
Parameter 3 group 2
O
rw
:::::
:::::
:::::
:::::
617Fh
Parameter 3 group 32
O
rw
6180h
Parameter 4 group 32
O
rw
:::::
:::::
O
rw
::::: 619Fh
4.4
M/O
::::: Parameter 4 group 32
Output panel unit
The output display unit virtual device may be installed as in-car panel or as floor panel. The output panel unit can be a display device that shows car position as well as direction and may announce acoustically the incoming car as well as the input panel that receives the acknowledgements for its call requests. All objects used by this virtual device are listed as follows: Index
Name
6200h 6201h :::::
M/O
Access
Output group 1
M
rw
Output group 2
O
rw
:::::
:::::
:::::
621Fh
Output group 32
O
rw
6220h
Parameter 1 group 1
M
rw
6221h
Parameter 1 group 2
O
rw
:::::
:::::
:::::
:::::
623Fh
Parameter 1 group 32
O
rw
6240h
Parameter 2 group 1
M
rw
6241h
Parameter 2 group 2
O
rw
5
DSP 417-2 V1.0.1 Index :::::
CiA
Name
M/O
Access
:::::
:::::
:::::
625Fh
Parameter 2 group 32
O
rw
6260h
Parameter 3 group 1
M
rw
6261h
Parameter 3 group 2
O
rw
:::::
:::::
:::::
:::::
627Fh
Parameter 3 group 32
O
rw
6280h
Parameter 4 group 1
M
rw
6281h
Parameter 4 group 2
O
rw
:::::
:::::
O
rw
::::: 629Fh
4.5
CANopen Application Profile for Lift Control Systems
::::: Parameter 4 group 32
Car door controller
The car door controller virtual device transmits commands to the car door unit virtual device and receives status information from the car door unit virtual device and light barrier unit. All objects used by this virtual device are listed as follows:
4.6
Index
Name
M/O
Access
6001h
Lift number
M
rw
6300h
Door controlword
M
ro
6301h
Door statusword
M
rw
6302h
Door position
O
rw
6310h
Light barrier status
O
rw
M/O
Access
Car door unit
The car door unit virtual device opens and closes the car door. All objects used by this virtual device are listed as follows:
4.7
Index
Name
6001h
Lift number
M
rw
6300h
Door controlword
M
rw
6301h
Door statusword
M
ro
6302h
Door position
O
ro
6303h
Door configuration
M
rw
6310h
Ligth barrier status
O
rw
Light barrier unit
The light barrier unit virtual device detects subjects and objects entering the protected area of the car door unit. All objects used by this virtual device are listed as follows: Index
Name
M/O
Access
6001h
Lift number
M
rw
6310h
Ligth barrier status
M
ro
6
DSP 417-2 V1.0.1
4.8
CANopen Application Profile for Lift Control Systems
CiA
Car position unit
The car position unit virtual device measures the actual position of the car and may additional values like speed and acceleration mainly required by the car drive controller. All objects used by this virtual device are listed as follows:
4.9
Index
Name
M/O
Access
6001h
Lift number
M
rw
6380h
Operating parameter
M
rw
6381h
Measuring units per revolution
O
rw
6382h
Preset value
O
rw
6383h
Position value
M
ro
6384h
Encoder measuring step settings
O
rw
6390h
Speed value car
O
ro
6391h
Acceleration value car
O
ro
63A0h
CAM state register
O
ro
63A1h
CAM enable register
O
rw
63A2h
CAM polarity register
O
rw
63B0h
Area state register
O
ro
63B1h
Work area lowlimit
O
rw
63B2h
Work area highlimit
O
rw
63C0h
Operating status
M
ro
63C1h
Single turn resolution
M
ro
63C2h
Number of distinguishable revolutions
M
ro
63C3h
Alarms and warnings
O
ro
63C4h
Supported alarms and warnings
O
ro
63C8h
Operating time
O
ro
63C9h
Offset value
O
ro
63CFh
Module identification
O
ro
Car drive controller
The car drive controller virtual device transmits commands to the car drive unit virtual device and receives status information from the car drive unit virtual device, car position unit, and load measuring unit. All objects used by this virtual device are listed as follows: Index
Name
M/O
Access
6001h
Lift number
M
rw
6302h
Door position
O
rw
6383h
Position value
M
rw
6390h
Speed value car
O
rw
6391h
Acceleration value car
O
rw
6400h
Controlword
M
ro
6401h
Statusword
M
rw
7
DSP 417-2 V1.0.1 Index
Name
6406h
CANopen Application Profile for Lift Control Systems
CiA
M/O
Access
Control effort
O
rw
6420h
Target position
O
ro
6430h
Target velocity
O
ro
6433h
Velocity actual value
O
rw
6480h
Load value
O
rw
6482h
Load signaling
O
rw
M/O
Access
4.10 Car drive unit The car drive unit virtual device moves the car. All objects used by this virtual device are listed as follows: Index
Name
6001h
Lift number
M
rw
6383h
Position value
M
rw
6400h
Controlword
M
rw
6401h
Statusword
M
ro
6402h
Control option codes
O
rw
6403h
Modes of operation
M
rw
6404h
Modes of operation display
M
ro
6405h
Motion profile type
M
rw
6406h
Control effort
O
ro
6408h
Max velocity and speed
O
-
6409h
Max acceleration and deceleration
M
rw
640Ch
Quick stop deceleration
M
rw
640Bh
Profile acceleration and deceleration
O
rw
640Ch
Profile jerk use
O
rw
640Dh
Profile jerk
O
rw
640Fh
Motor data
O
ro
6410h
Position dimension
O
rw
6411h
Velocity dimension
O
rw
6412h
Acceleration dimension
O
rw
6413h
Jerk dimension
O
rw
6414h
Position encoder resolution
O
rw
6415h
Velocity encoder resolution
O
rw
6416h
Gear ratio
O
rw
6417h
Feed constant
O
rw
6418h
Position factor
O
rw
6419h
Velocity encoder factor
O
rw
641Ah
Velocity factor 1
O
rw
641Bh
Velocity factor 2
O
rw
8
DSP 417-2 V1.0.1 Index
Name
641Ch
CANopen Application Profile for Lift Control Systems
CiA
M/O
Access
Acceleration factor
O
rw
641Dh
Jerk factor
O
rw
641Eh
Polarity
O
rw
6420h
Target position
O
rw
6421h
Position range limit
O
rw
6422h
Software position limit
O
rw
6423h
Profile velocity
O
rw
6424h
End velocity
O
rw
6428h
Home offset
O
rw
6429h
Home method
O
rw
642Ah
Homing speed
O
rw
642Bh
Homing acceleration
O
rw
6430h
Target velocity
O
rw
6431h
Velocity sensor actual value
O
ro
6432h
Velocity demand value
O
ro
6433h
Velocity actual value
O
ro
6434h
Sensor selection code
O
rw
6435h
Velocity window
O
rw
6436h
Velocity threshold
O
rw
6437h
Max slippage
O
rw
6438h
Velocity control parameter set
O
rw
6480h
Load value
O
rw
6482h
Load signaling
O
rw
4.11 Load measuring unit The load measuring unit virtual device detects the load of the car and signals certain situations like normal load, full load, and overload. All objects used by this virtual device are listed as follows: Index
Name
M/O
Access
6001h
Lift number
M
rw
6480h
Load value
M
-
6481h
Load limits
M
rw
6482h
Load signaling
M
-
6483h
Load signaling limits
M
rw
6484h
Rope load
O
ro
6485h
Load measuring system configuration
M
rw
9
DSP 417-2 V1.0.1
CANopen Application Profile for Lift Control Systems
CiA
4.12 Sensor unit The sensor unit virtual device detects certain sensor values and signals that like smoke detectors or glas detectes. All objects used by this virtual device are listed as follows: Index
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